Safe trajectory optimization with control failure effects estimation
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摘要: 操纵面故障将改变飞机受到的气动力和力矩,降低机动性能和控制能力,基于传统质点模型的航迹规划方法难以解决此类飞机安全飞行轨迹优化问题.因此,引入由故障引起的侧滑和侧力,估计故障后气动力系数,建立故障飞机模型;针对故障飞机控制和机动能力下降的问题,在原故障模型的基础上引入控制量变化率,构建轨迹优化对象模型,并将控制量变化率最小作为优化指标;采用高斯伪谱法优化计算安全飞行轨迹.仿真实验以副翼和方向舵故障为例进行设计,结果满足运动方程及各控制量、状态量约束,并能实现平稳飞行.Abstract: Control surface failures will change the aerodynamics of the aircraft and reduce its maneuverability as well as controllability. The traditional path planning methods based on the normal point-mass model have difficulty in generating an optimal and safe trajectory. To characterize the impaired motions accurately, the sideslip angle and the side force caused by failures were introduced into the simplified point-mass model, and post-failure aerodynamics were estimated. To address the problem of declined controllability and maneuverability, the change rates of the control variables were appended to the modified model and penalized in the cost function. Finally, gauss pseudospectral method was applied to optimize the safe trajectory. Numerical results considering aileron and rudder failures showed that equations of motion and the constraints of both states and controls were satisfied while safe and smooth trajectories were achieved.
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Key words:
- control surface /
- failure /
- aerodynamics /
- safe trajectory optimization /
- Gauss pseudospectral method
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